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add multibody interpolation transform so that collision detection is consistent with rigidbody

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This commit is contained in:
Xuchen Han
2019-07-31 20:40:22 -07:00
parent ec403f790d
commit f1e7ce9ce1
10 changed files with 196 additions and 46 deletions
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9
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -985,13 +985,8 @@ struct btSoftColliders
btVector3 t2 = btCross(normal, t1);
btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_q, normal);
// findJacobian is hella expensive, avoid calling if possible
if (fc != 0)
{
findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1);
findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2);
}
findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1);
findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2);
btScalar* J_n = &jacobianData_normal.m_jacobians[0];
btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];